Resolved #283, crash due to contact is None #284
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resolved #283.
in
urdf_common/urdf_env.py:219# git diff - contacts = pybullet.getContactPoints(robot._robot) + contacts = pybullet.getContactPoints( + bodyA=robot._robot, + physicsClientId=self._cid + ) or []physicsClientId=self._cid, so pybullet won't use wrong physicsClientId when others is also connecting pybullet.or [], so even when contacts is None, it won't crash the whole program.